version: 66.04
glider: 5
mission: 7
dive: 97
start: 9 14 109 1 55 45
data:
$ID,5
$MISSION,7
$DIVE,97
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102097.45
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,9
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,014937,6226.701,-1133.253,30,1.0,30,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.1
$GPS2,015456,6226.760,-1133.190,14,1.6,14,-11.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,0.245
$KALMAN_X,-92617.1,446.2,335.9,-60813.7,-6770.8
$KALMAN_Y,8753.0,1262.6,776.3,82047.4,-11635.9
$MHEAD_RNG_PITCHd_Wd,13.5,8361,-14.8,-8.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,61,0.00,0.00,-41.60,0.000,2,0.000,0.000,420,2142,2464
$GC,65,-1.22,-146.6,2.3,-3.3,2,121,11.25,2.62,-37.15,0.000,4,0.156,0.071,2471,716,3429
$GC,376,-1.16,-146.6,40.0,-12.9,16,380,0.00,2.50,0.00,0.000,6,0.000,0.048,2471,2132,3430
$GC,703,-1.10,-146.6,77.1,-10.6,32,708,0.17,2.55,0.00,0.000,4,0.098,0.057,2507,714,3431
$GC,887,-1.10,-146.6,97.0,-11.0,40,891,0.00,2.50,0.00,0.000,6,0.000,0.052,2507,2130,3431
$GC,1205,-1.10,-146.6,128.1,-10.0,55,1209,0.00,2.55,0.00,0.000,4,0.000,0.062,2507,718,3431
$GC,1250,-1.13,-146.6,133.1,-11.3,57,1254,0.00,2.47,0.00,0.000,6,0.000,0.050,2507,2115,3431
$GC,1571,-1.13,-146.6,165.8,-10.4,73,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2115,3432
$GC,1880,-1.13,-146.6,197.3,-9.8,88,1884,0.00,2.50,0.00,0.000,4,0.000,0.061,2508,719,3432
$GC,1932,-1.17,-146.6,202.7,-10.2,90,1936,0.00,2.47,0.00,0.000,6,0.000,0.054,2507,2118,3431
$GC,2253,-1.17,-146.6,235.6,-10.2,106,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2118,3431
$GC,2563,-1.17,-146.6,266.7,-10.0,121,2567,0.00,2.53,0.00,0.000,4,0.000,0.064,2507,720,3431
$GC,2625,-1.20,-146.6,273.3,-10.2,124,2630,0.10,2.47,0.00,0.000,6,0.061,0.055,2477,2117,3431
$GC,2952,-1.16,-146.6,310.7,-11.4,140,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2117,3430
$GC,3263,-1.12,-146.6,345.3,-11.2,155,3268,0.12,2.55,0.00,0.000,4,0.094,0.064,2503,710,3430
$GC,3325,-1.12,-146.6,352.1,-10.6,158,3329,0.00,2.47,0.00,0.000,6,0.000,0.053,2503,2106,3430
$GC,3652,-1.12,-146.6,384.6,-9.9,174,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2110,3430
$GC,3961,-1.12,-146.6,415.3,-9.8,189,3965,0.00,2.53,0.00,0.000,4,0.000,0.066,2503,716,3429
$GC,4012,-1.15,-146.6,420.3,-9.5,191,4016,0.00,2.45,0.00,0.000,6,0.000,0.051,2503,2100,3430
$GC,4328,-1.15,-146.6,448.8,-8.7,206,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2100,3429
$GC,4637,-1.15,-146.6,475.4,-8.6,221,4641,0.00,2.50,0.00,0.000,4,0.000,0.066,2503,719,3429
$GC,4682,-1.19,-146.6,479.6,-9.4,223,4686,0.00,2.45,0.00,0.000,6,0.000,0.052,2503,2100,3429
$GC,5003,-1.19,-146.6,509.3,-9.5,239,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2100,3429
$GC,5312,-1.19,-146.6,540.0,-10.1,254,5316,0.00,2.53,0.00,0.000,4,0.000,0.067,2503,716,3428
$GC,5357,-1.23,-146.6,544.6,-10.6,256,5362,0.12,2.45,0.00,0.000,6,0.058,0.056,2467,2096,3429
$GC,5687,-1.18,-146.6,583.1,-11.7,272,5691,0.00,2.50,0.00,0.000,4,0.000,0.066,2467,718,3428
$GC,5755,-1.18,-146.6,591.8,-12.0,275,5759,0.10,2.45,0.00,0.000,6,0.103,0.056,2485,2096,3428
$GC,6082,-1.18,-146.6,627.3,-10.4,291,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2096,3428
$GC,6391,-1.18,-146.6,656.4,-8.9,306,6395,0.00,2.53,0.00,0.000,4,0.000,0.071,2486,713,3428
$GC,6463,-1.18,-146.6,662.9,-8.1,309,6467,0.00,2.45,0.00,0.000,6,0.000,0.056,2486,2090,3428
$GC,6779,-1.18,-146.6,685.5,-7.0,324,6784,0.00,2.50,0.00,0.000,4,0.000,0.070,2486,719,3428
$GC,6887,-1.18,-146.6,693.9,-7.4,329,6891,0.00,2.40,0.00,0.000,6,0.000,0.061,2486,2073,3428
$GC,7220,-1.18,-146.6,719.8,-8.0,345,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2073,3427
$GC,7529,-1.18,-146.6,748.1,-10.0,360,7533,0.00,2.50,0.00,0.000,4,0.000,0.077,2486,719,3426
$GC,7592,-1.18,-146.6,754.9,-10.9,363,7596,0.00,2.42,0.00,0.000,6,0.000,0.059,2486,2068,3426
$GC,7925,-1.18,-146.6,787.6,-10.0,379,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2068,3426
$STATE,8107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8107,begin apogee
$GC,8115,-0.33,0.0,806.0,10.1,388,8250,0.85,0.00,129.43,1.380,6,0.079,0.000,2668,1833,2831
$STATE,8251,end apogee,CONTROL_FINISHED_OK
$STATE,8251,begin climb
$GC,8254,1.22,146.6,810.5,0.0,395,8394,1.58,2.70,130.10,1.338,4,0.064,0.068,3008,3254,2233
$GC,8508,1.16,175.0,797.2,7.0,407,8541,0.00,2.58,26.62,1.264,6,0.000,0.066,3009,1870,2117
$GC,8862,1.09,175.0,764.9,9.7,424,8867,0.15,2.60,0.00,0.000,4,0.100,0.070,2980,3256,2115
$GC,8917,1.09,175.0,759.2,8.9,426,8923,0.00,2.62,0.00,0.000,6,0.000,0.067,2980,1847,2115
$GC,9233,1.09,175.0,730.9,8.9,442,9238,0.00,2.60,0.00,0.000,4,0.000,0.081,2981,439,2114
$GC,9301,1.01,175.0,724.3,9.6,445,9305,0.00,2.55,0.00,0.000,6,0.000,0.058,2981,1842,2114
$GC,9623,1.01,175.0,694.6,8.8,461,9627,0.00,2.60,0.00,0.000,4,0.000,0.073,2981,3258,2114
$GC,9656,1.01,175.0,691.5,9.4,462,9662,0.00,2.65,0.00,0.000,6,0.000,0.068,2981,1835,2114
$GC,9972,1.01,175.0,662.2,8.7,478,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1834,2114
$GC,10281,1.08,216.8,640.3,6.5,493,10320,0.00,0.00,36.97,1.274,6,0.000,0.000,2981,1834,1947
$GC,10630,1.21,298.7,621.0,5.0,510,10709,0.12,0.00,72.32,1.259,6,0.059,0.000,3013,1834,1613
$GC,11019,1.21,298.7,588.2,9.6,529,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1834,1614
$GC,11328,1.21,298.7,557.2,10.1,544,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1834,1614
$GC,11637,1.21,298.7,525.1,10.4,559,11642,0.00,2.62,0.00,0.000,4,0.000,0.064,3013,3259,1614
$GC,11693,1.24,298.7,519.0,10.6,561,11699,0.00,2.58,0.00,0.000,6,0.000,0.058,3013,1849,1614
$GC,12009,1.24,298.7,484.5,11.4,577,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1849,1614
$GC,12318,1.24,298.7,448.6,11.6,592,12322,0.00,2.58,0.00,0.000,4,0.000,0.062,3014,3254,1615
$GC,12357,1.24,298.7,444.1,10.9,593,12364,0.00,2.53,0.00,0.000,6,0.000,0.057,3013,1853,1614
$GC,12673,1.24,298.7,409.5,10.7,609,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1853,1615
$GC,12982,1.24,298.7,378.4,10.0,624,12987,0.00,2.58,0.00,0.000,4,0.000,0.061,3013,3262,1615
$GC,13024,1.27,298.7,374.3,9.4,626,13028,0.00,2.53,0.00,0.000,6,0.000,0.055,3013,1861,1615
$GC,13350,1.27,298.7,342.4,10.1,642,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1861,1616
$GC,13659,1.27,298.7,311.0,10.3,657,13663,0.00,2.55,0.00,0.000,4,0.000,0.061,3013,3262,1617
$GC,13700,1.31,298.7,306.9,9.8,659,13704,0.00,2.50,0.00,0.000,6,0.000,0.054,3013,1862,1617
$GC,14026,1.31,298.7,272.9,10.5,675,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1862,1617
$GC,14336,1.31,298.7,242.4,9.6,690,14340,0.00,2.53,0.00,0.000,4,0.000,0.060,3014,3259,1617
$GC,14363,1.31,298.7,239.6,10.3,691,14368,0.00,2.50,0.00,0.000,6,0.000,0.052,3013,1861,1617
$GC,14685,1.31,298.7,209.4,9.5,707,14689,0.00,2.53,0.00,0.000,4,0.000,0.059,3013,3254,1617
$GC,14712,1.31,298.7,206.6,9.6,708,14716,0.00,2.45,0.00,0.000,6,0.000,0.051,3013,1878,1617
$GC,15033,1.31,298.7,175.4,9.7,724,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1879,1617
$GC,15343,1.31,298.7,144.9,10.0,739,15347,0.00,2.50,0.00,0.000,4,0.000,0.059,3013,3260,1617
$GC,15376,1.35,298.7,141.3,9.3,740,15384,0.12,2.42,0.00,0.000,6,0.054,0.051,3050,1889,1617
$GC,15693,1.29,298.7,103.6,12.1,756,15698,0.12,2.60,0.00,0.000,4,0.090,0.066,3025,443,1617
$GC,15727,1.24,298.7,99.3,12.5,757,15733,0.00,2.58,0.00,0.000,6,0.000,0.048,3025,1900,1617
$GC,16045,1.24,298.7,66.5,9.9,773,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1900,1617
$GC,16352,1.24,298.7,36.1,9.7,788,16357,0.00,2.67,0.00,0.000,4,0.000,0.066,3025,443,1618
$GC,16484,1.24,298.7,22.7,8.9,794,16489,0.00,2.47,0.00,0.000,6,0.000,0.047,3025,1848,1618
$STATE,16706,end climb,SURFACE_DEPTH_REACHED
$STATE,16706,begin surface coast
$FINISH,1.1,1.026817
$STATE,16728,end surface coast,CONTROL_FINISHED_OK
$STATE,16728,begin surface
$SM_CCo,16751,1.38,0.117,0,0,1608,300.00
$SM_GC,2.76,0.00,0.00,1.38,0.000,0.000,0.117,425,2152,1608,-10.67,0.62,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1836
$TCM_TEMP,17.50
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,795.6,18.5
$24V_AH,23.8,18.796
$10V_AH,10.1,8.399
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.125,132.325,395.450,1.375,0.000,37.763,27.017,134.891,18.000,0.000,0.000,14.187,1481.002,12781.085,528.364,1786.533,495.421,33.362,1425.478,0.000,1740.343,0.000,54.980,0.000
$DEVICE_MAMPS,156.468,81.302,1379.833,117.351,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.325,599.350,462.532,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41191,806
$CAP_FILE_SIZE,121198,0
$CFSIZE,254472192,246448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140909,063607,6228.809,-1134.491,28,1.2,28,-11.0